<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: segmentation/include/pcl/segmentation/impl/organized_connected_component_segmentation.hpp 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('organized__connected__component__segmentation_8hpp_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">organized_connected_component_segmentation.hpp</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_SEGMENTATION_IMPL_ORGANIZED_CONNECTED_COMPONENT_SEGMENTATION_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_SEGMENTATION_IMPL_ORGANIZED_CONNECTED_COMPONENT_SEGMENTATION_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/organized_connected_component_segmentation.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>LT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_connected_component_segmentation.html#a0263cb303cf22c046ae3984746eeae20">   53</a></span>&#160;<a class="code" href="classpcl_1_1_organized_connected_component_segmentation.html#a0263cb303cf22c046ae3984746eeae20">pcl::OrganizedConnectedComponentSegmentation&lt;PointT, PointLT&gt;::findLabeledRegionBoundary</a> (<span class="keywordtype">int</span> start_idx, PointCloudLPtr labels, <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a>&amp; boundary_indices)</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  boundary_indices.indices.clear ();</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordtype">int</span> curr_idx = start_idx;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordtype">int</span> curr_x   = start_idx % labels-&gt;width;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordtype">int</span> curr_y   = start_idx / labels-&gt;width;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keywordtype">unsigned</span> label = labels-&gt;points[start_idx].label;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="comment">// fill lookup table for next points to visit</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <a class="code" href="structpcl_1_1_organized_connected_component_segmentation_1_1_neighbor.html">Neighbor</a> directions [8] = {<a class="code" href="structpcl_1_1_organized_connected_component_segmentation_1_1_neighbor.html">Neighbor</a>(-1,  0,                 -1),</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;                             <a class="code" href="structpcl_1_1_organized_connected_component_segmentation_1_1_neighbor.html">Neighbor</a>(-1, -1, -labels-&gt;width - 1), </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;                             <a class="code" href="structpcl_1_1_organized_connected_component_segmentation_1_1_neighbor.html">Neighbor</a>( 0, -1, -labels-&gt;width    ),</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;                             <a class="code" href="structpcl_1_1_organized_connected_component_segmentation_1_1_neighbor.html">Neighbor</a>( 1, -1, -labels-&gt;width + 1),</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;                             <a class="code" href="structpcl_1_1_organized_connected_component_segmentation_1_1_neighbor.html">Neighbor</a>( 1,  0,                  1),</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;                             <a class="code" href="structpcl_1_1_organized_connected_component_segmentation_1_1_neighbor.html">Neighbor</a>( 1,  1,  labels-&gt;width + 1),</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;                             <a class="code" href="structpcl_1_1_organized_connected_component_segmentation_1_1_neighbor.html">Neighbor</a>( 0,  1,  labels-&gt;width    ),</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;                             <a class="code" href="structpcl_1_1_organized_connected_component_segmentation_1_1_neighbor.html">Neighbor</a>(-1,  1,  labels-&gt;width - 1)};</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="comment">// find one pixel with other label in the neighborhood -&gt; assume thats the one we came from</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordtype">int</span> direction = -1;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordtype">int</span> x;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordtype">int</span> y;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keywordtype">int</span> index;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> dIdx = 0; dIdx &lt; 8; ++dIdx)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  {</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    x = curr_x + directions [dIdx].d_x;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    y = curr_y + directions [dIdx].d_y;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    index = curr_idx + directions [dIdx].d_index;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordflow">if</span> (x &gt;= 0 &amp;&amp; x &lt; <span class="keywordtype">int</span>(labels-&gt;width) &amp;&amp; y &gt;= 0 &amp;&amp; y &lt; <span class="keywordtype">int</span>(labels-&gt;height) &amp;&amp; labels-&gt;points[index].label != label)</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      direction = dIdx;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    }</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  }</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="comment">// no connection to outer regions =&gt; start_idx is not on the border</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordflow">if</span> (direction == -1)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  boundary_indices.indices.push_back (start_idx);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordflow">do</span> {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordtype">unsigned</span> nIdx;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> dIdx = 1; dIdx &lt;= 8; ++dIdx)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    {</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      nIdx = (direction + dIdx) &amp; 7;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      x = curr_x + directions [nIdx].d_x;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      y = curr_y + directions [nIdx].d_y;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      index = curr_idx + directions [nIdx].d_index;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keywordflow">if</span> (x &gt;= 0 &amp;&amp; x &lt; <span class="keywordtype">int</span>(labels-&gt;width) &amp;&amp; y &gt;= 0 &amp;&amp; y &lt; int(labels-&gt;height) &amp;&amp; labels-&gt;points[index].label == label)</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="comment">// update the direction</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    direction = (nIdx + 4) &amp; 7;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    curr_idx += directions [nIdx].d_index;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    curr_x   += directions [nIdx].d_x;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    curr_y   += directions [nIdx].d_y;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    boundary_indices.indices.push_back(curr_idx);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  } <span class="keywordflow">while</span> ( curr_idx != start_idx);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;}</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>LT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classpcl_1_1_organized_connected_component_segmentation.html#a737a249b293489a41bbbdfc0a1eca7c1">  118</a></span>&#160;<a class="code" href="classpcl_1_1_organized_connected_component_segmentation.html#a737a249b293489a41bbbdfc0a1eca7c1">pcl::OrganizedConnectedComponentSegmentation&lt;PointT, PointLT&gt;::segment</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointLT&gt;</a>&amp; labels, std::vector&lt;pcl::PointIndices&gt;&amp; label_indices)<span class="keyword"> const</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  std::vector&lt;unsigned&gt; run_ids;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordtype">unsigned</span> invalid_label = std::numeric_limits&lt;unsigned&gt;::max ();</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  PointLT invalid_pt;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  invalid_pt.label = std::numeric_limits&lt;unsigned&gt;::max ();</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  labels.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (input_-&gt;points.size (), invalid_pt);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  labels.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = input_-&gt;width;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  labels.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = input_-&gt;height;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> clust_id = 0;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="comment">//First pixel</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="keywordflow">if</span> (pcl_isfinite (input_-&gt;points[0].x))</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    labels[0].label = clust_id++;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    run_ids.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (labels[0].label );</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  }   </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="comment">// First row</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> colIdx = 1; colIdx &lt; static_cast&lt;int&gt; (input_-&gt;width); ++colIdx)</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  {</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keywordflow">if</span> (!pcl_isfinite (input_-&gt;points[colIdx].x))</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (compare_-&gt;compare (colIdx, colIdx - 1 ))</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    {</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      labels[colIdx].label = labels[colIdx - 1].label;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    }</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      labels[colIdx].label = clust_id++;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      run_ids.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (labels[colIdx].label );</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="comment">// Everything else</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> current_row = input_-&gt;width;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> previous_row = 0;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> rowIdx = 1; rowIdx &lt; input_-&gt;height; ++rowIdx, previous_row = current_row, current_row += input_-&gt;width)</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  {</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="comment">// First pixel</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keywordflow">if</span> (pcl_isfinite (input_-&gt;points[current_row].x))</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    {</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keywordflow">if</span> (compare_-&gt;compare (current_row, previous_row))</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      {</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        labels[current_row].label = labels[previous_row].label;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      {</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        labels[current_row].label = clust_id++;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        run_ids.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (labels[current_row].label);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    }</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="comment">// Rest of row</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> colIdx = 1; colIdx &lt; static_cast&lt;int&gt; (input_-&gt;width); ++colIdx)</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    {</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keywordflow">if</span> (pcl_isfinite (input_-&gt;points[current_row + colIdx].x))</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      {</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <span class="keywordflow">if</span> (compare_-&gt;compare (current_row + colIdx, current_row + colIdx - 1))</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        {</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;          labels[current_row + colIdx].label = labels[current_row + colIdx - 1].label;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        }</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keywordflow">if</span> (compare_-&gt;compare (current_row + colIdx, previous_row + colIdx) )</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;          <span class="keywordflow">if</span> (labels[current_row + colIdx].label == invalid_label)</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;            labels[current_row + colIdx].label = labels[previous_row + colIdx].label;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;          <span class="keywordflow">else</span> <span class="keywordflow">if</span> (labels[previous_row + colIdx].label != invalid_label)</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;          {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;            <span class="keywordtype">unsigned</span> root1 = findRoot (run_ids, labels[current_row + colIdx].label);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;            <span class="keywordtype">unsigned</span> root2 = findRoot (run_ids, labels[previous_row + colIdx].label);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;            </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;            <span class="keywordflow">if</span> (root1 &lt; root2)</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;              run_ids[root2] = root1;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;              run_ids[root1] = root2;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;          }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        }</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <span class="keywordflow">if</span> (labels[current_row + colIdx].label == invalid_label)</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        {</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;          labels[current_row + colIdx].label = clust_id++;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;          run_ids.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (labels[current_row + colIdx].label);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        }</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      }</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    }</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  }</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  std::vector&lt;unsigned&gt; map (clust_id);</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  <span class="keywordtype">unsigned</span> max_id = 0;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> runIdx = 0; runIdx &lt; run_ids.size (); ++runIdx)</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  {</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="comment">// if it is its own root -&gt; new region</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <span class="keywordflow">if</span> (run_ids[runIdx] == runIdx)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      map[runIdx] = max_id++;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <span class="keywordflow">else</span> <span class="comment">// assign this sub-segment to the region (root) it belongs</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      map [runIdx] = map [findRoot (run_ids, runIdx)];</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  }</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  label_indices.resize (max_id + 1);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> idx = 0; idx &lt; input_-&gt;points.size (); idx++)</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  {</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keywordflow">if</span> (labels[idx].label != invalid_label)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    {</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      labels[idx].label = map[labels[idx].label];</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      label_indices[labels[idx].label].indices.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (idx);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    }</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  }</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;}</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_OrganizedConnectedComponentSegmentation(T,LT) template class PCL_EXPORTS pcl::OrganizedConnectedComponentSegmentation&lt;T,LT&gt;;</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="preprocessor">#endif </span><span class="comment">//#ifndef PCL_SEGMENTATION_IMPL_ORGANIZED_CONNECTED_COMPONENT_SEGMENTATION_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_organized_connected_component_segmentation_html_a0263cb303cf22c046ae3984746eeae20"><div class="ttname"><a href="classpcl_1_1_organized_connected_component_segmentation.html#a0263cb303cf22c046ae3984746eeae20">pcl::OrganizedConnectedComponentSegmentation::findLabeledRegionBoundary</a></div><div class="ttdeci">static void findLabeledRegionBoundary(int start_idx, PointCloudLPtr labels, pcl::PointIndices &amp;boundary_indices)</div><div class="ttdoc">Find the boundary points / contour of a connected component</div><div class="ttdef"><b>Definition:</b> organized_connected_component_segmentation.hpp:53</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_connected_component_segmentation_html_a737a249b293489a41bbbdfc0a1eca7c1"><div class="ttname"><a href="classpcl_1_1_organized_connected_component_segmentation.html#a737a249b293489a41bbbdfc0a1eca7c1">pcl::OrganizedConnectedComponentSegmentation::segment</a></div><div class="ttdeci">void segment(pcl::PointCloud&lt; PointLT &gt; &amp;labels, std::vector&lt; pcl::PointIndices &gt; &amp;label_indices) const</div><div class="ttdoc">Perform the connected component segmentation.</div><div class="ttdef"><b>Definition:</b> organized_connected_component_segmentation.hpp:118</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a0b4d7abee110e47d90635eb042488bb4"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">pcl::PointCloud::push_back</a></div><div class="ttdeci">void push_back(const PointT &amp;pt)</div><div class="ttdoc">Insert a new point in the cloud, at the end of the container.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:480</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="astructpcl_1_1_organized_connected_component_segmentation_1_1_neighbor_html"><div class="ttname"><a href="structpcl_1_1_organized_connected_component_segmentation_1_1_neighbor.html">pcl::OrganizedConnectedComponentSegmentation::Neighbor</a></div><div class="ttdef"><b>Definition:</b> organized_connected_component_segmentation.h:137</div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_20ddda488709b7b18816b240f9df52db.html">segmentation</a></li><li class="navelem"><a class="el" href="dir_d73ea44817f729d5e7cf775c9e236264.html">include</a></li><li class="navelem"><a class="el" href="dir_864cadfcf76019fd9a0a836ee881d655.html">pcl</a></li><li class="navelem"><a class="el" href="dir_75b522e316e1b3af642e1cdb6b6108b7.html">segmentation</a></li><li class="navelem"><a class="el" href="dir_3d95367f2608afa51d57aef6016d65f7.html">impl</a></li><li class="navelem"><b>organized_connected_component_segmentation.hpp</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
